Related papers: GOGMA: Globally-Optimal Gaussian Mixture Alignment

We present a consensus-based distributed pose graph optimization algorithm for obtaining an estimate of the 3D translation and rotation of each pose in a pose graph, given noisy relative measurements between poses. The algorithm, called…

Accurate and reliable tracking of multiple moving objects in 3D space is an essential component of urban scene understanding. This is a challenging task because it requires the assignment of detections in the current frame to the predicted…

We present Deep Global Registration, a differentiable framework for pairwise registration of real-world 3D scans. Deep global registration is based on three modules: a 6-dimensional convolutional network for correspondence confidence…

This article presents a generic method to solve 2D multi-objective placement problem for free-form components. The proposed method is a relaxed placement technique combined with an hybrid algorithm based on a genetic algorithm and a…

Under mild assumptions stochastic gradient methods asymptotically achieve an optimal rate of convergence if the arithmetic mean of all iterates is returned as an approximate optimal solution. However, in the absence of stochastic noise, the…

In this paper, we propose a coarse-to-fine integration solution inspired by the classical ICP algorithm, to pairwise 3D point cloud registration with two improvements of hybrid metric spaces (eg, BSC feature and Euclidean geometry spaces)…

The main challenge of nonconvex optimization is to find a global optimum, or at least to avoid ``bad'' local minima and meaningless stationary points. We study here the extent to which algorithms, as opposed to optimization models and…

GNSS localization is an important part of today's autonomous systems, although it suffers from non-Gaussian errors caused by non-line-of-sight effects. Recent methods are able to mitigate these effects by including the corresponding…

3D Gaussian Splatting (3DGS) has revolutionized neural rendering with its efficiency and quality, but like many novel view synthesis methods, it heavily depends on accurate camera poses from Structure-from-Motion (SfM) systems. Although…

Learning a Gaussian mixture model (GMM) is a fundamental problem in machine learning, learning theory, and statistics. One notion of learning a GMM is proper learning: here, the goal is to find a mixture of $k$ Gaussians $\mathcal{M}$ that…

This paper addresses the issue of matching rigid 3D object points with 2D image points through point registration based on maximum likelihood principle in computer simulated images. Perspective projection is necessary when transforming 3D…

Pose Graph Optimization (PGO) is an important non-convex optimization problem and is the state-of-the-art formulation for SLAM in robotics. It also has applications like camera motion estimation, structure from motion and 3D reconstruction…

This paper addresses the issue of matching rigid and articulated shapes through probabilistic point registration. The problem is recast into a missing data framework where unknown correspondences are handled via mixture models. Adopting a…

Numerous applications require algorithms that can align partially overlapping point sets while maintaining invariance to geometric transformations (e.g., similarity, affine, rigid). This paper introduces a novel global optimization method…

The rapid growth of 3D Gaussian Splatting (3DGS) has revolutionized neural rendering, enabling real-time production of high-quality renderings. However, the previous 3DGS-based methods have limitations in urban scenes due to reliance on…

Several methods have been recently proposed for estimating sparse Gaussian graphical models using $\ell_{1}$ regularization on the inverse covariance matrix. Despite recent advances, contemporary applications require methods that are even…

Bayesian Optimization (BO) is an effective method for finding the global optimum of expensive black-box functions. However, it is well known that applying BO to high-dimensional optimization problems is challenging. To address this issue, a…

We introduce a lightweight and accurate localization method that only utilizes the geometry of 2D-3D lines. Given a pre-captured 3D map, our approach localizes a panorama image, taking advantage of the holistic 360 view. The system…

Due to the highly non-convex nature of large-scale robust parameter estimation, avoiding poor local minima is challenging in real-world applications where input data is contaminated by a large or unknown fraction of outliers. In this paper,…

3D Gaussian Splatting (3DGS) achieves high-fidelity rendering with fast real-time performance, but existing methods rely on offline training after full Structure-from-Motion (SfM) processing. In contrast, this work introduces Gaussian…